Mileage detection method for magnetic-navigation wheeled autonomous mobile robot

The invention discloses a mileage detection method for a magnetic-navigation wheeled autonomous mobile robot, which includes: the first step, determining the laying distance L of magnetic strips or magnetic spikes; the second step, recording the number N1 and N2 of times of failure of a front row of magnetic sensors and a back row of magnetic sensors in terms of detecting magnetic fields when the robot advances; the third step, calculating the current mileage s of the robot according to the following mileage calculation formula: s=[(N1+N2)X(L+A)]/2 or s= [(N1+N2)X(L+2R)]/2, wherein the A is the length of the magnetic strips, and the R is the radius of the magnetic spikes. The gap value of the magnetic spikes or the magnetic strips is obtained by setting the laying distance of the magnetic spikes and the magnetic strips scientifically, and then mileage detection is realized according to the number of times of failure of the front row of magnetic sensors and the back row of magnetic sensors in terms of reading the magnetic fields and the laying distance of the magnetic strips or the magnetic spikes. The mileage detection method is simple in calculation, accurate relatively and free of being affected by external environments, overcomes defects of the conventional mileage calculation method to the utmost extent, and saves cost for hardware and software of the wheeled autonomous mobile robot.